There exist two leading causes of errors in LiDAR depth maps: i) erroneous measurements consequence of the LiDAR technology, for instance, originated by reflective or dark surfaces – over which the behavior of the emitted beams become unpredictable – or by other technological limitations (for instance, the mechanical rotation performed by the Velodyne HDL-64E used in KITTI [1]}) and ii) incorrect projection of depth values near object boundaries, due to occlusions originated by the different viewpoints of the LiDAR sensor and the RGB camera.
